Automatic transfer mechanism



WERSTTQM f J. L. FOLLY 2,680,527 AUTOMATIC TRANSFER MECHANISM Filed Aug. 14, 1950 5 Sheets-Sheet l INVENTOR June 8, 1954 Filed Aug. 14, 1950 J. L. FOLLY AUTOMATIC TRANSFER MECHANISM '5 Sheets-Sheet 2 2! INVENTOR Jofifl awreilceiol 7AA Q 44104 ORNEY Filed Aug. 14, 1 950 J. LT POW AUTOMATIC TRANSFER MECHANISM 5 Sheets-Sheet 3 INVENTOR ORNEY June 8, 1954 J. L. FOLLY 2,680,527

AUTOMATIC TRANSFER MECHANISM Filed Aug. 14, 1950 5 Sheets-Sheet 4 An /$219 size/.18 I 4 INVENTOR D i g Jafmiawrerrcefi/Q A'ITORN EY J. L. FOLLY 2,680,527

AUTOMATIC TRANSFER MECHANISM Filed Aug. 14, 1950 5 Sheets-Sheet 5- ATTORNEY Patented June 8, 1954 AUTOMATIC TRANSFER John L. Folly, West He caster County, Pa., assi tion of America,

MECHANISM gnor to Radio Corporaa corporation of Delaware Application August 14, 1950, Serial No.

Claims. (Cl. 2141) ful 111 the manufacture of articles sensitive to It is, therefore, a principal object of my invention to provide an automatic transfer mechanism Another object is the provision of such appaoperation.

*A further object is the provision of an apparatus for automatically transferring hot glass or composite glass andmetal evacuated cathode ray tubes without introducing thermal strain in the Further objects and advantages will become evident as my invention is more fully understood.

In the embodiment exemplifying my invention, I preferably utilize a vacuum or suction chuck on to be responslve to a control lever which contacts the face the cathode ray tube.

The novel features which I believe to be characteristic of my invention are set forth with particularity in the appended claims. The inven- Figure 4 1s a sectional @-4 of Figure 3;

Figures 5 and 6 are, respectively, side and plan view through the line cally in connection with which my invention is particularly useful Figure 7 is a view partly in cross-section of a valve that may be used for vacuum control and air flow control in the mechanism of the invention;

Figure 8 is an enlarged sectional view of another form of valve for air flow control employed in the mechanism Figure 9 is a View in cross-section of still another form of valve associated with the mechanism referred to;

Figure 10 is an elevational view of a portion of the mechanism for imparting rotary motion;

Figure 11 is a view partly in cross-section along the line I l! l of Figure 10; and

' igure 12 is schematic showing the functional relationship of the several parts of the mecha nism.

Referring now to the drawing in detail, a vacuum or suction chuck i8 is connected to the end of an arm or support member l i. Arm or support member H, as will be more fully pointed out, is rotatably mounted on a vertically movable shaft 12 (Figures 2 and 5) Vacuum chuck Hi, as most clearly shown in Figure 4, comprises an outer casing or cylinder l3 having an upper extension forming a portion of reduced diameter l3a. Interior surfaces of cylinder 13 are provided with Oilite bronze bushings in which is slideably mou Piston [4 extends through cylinder l3 and has portions l5, 16 which snugly fit and are slideablc in the larger and smaller bores respectively of cylinder l3. Central passageway l'. of piston l4 communicates at one end with flexible vacuum line it through apertures 23a while the other or lower end of piston i4 is connected to annular member it) which forms the contactor of the vacuum chuck. Annular member i9 is. preferably formed of two annular discs 20, 2i which are bolted or otherwise joined in a suitable manner and between them form an annular space 22. Heater wires 23, properly insulated, are mounted in annular space 22 with the terminals therefor extending through access opening 24. formed in upper annular disc 29. The exposed or lower surface of lower annular disc 2! has a peripheral lip 25 with an annular groove formed therein in which is seated gasket 25.

The vacuum chuck is made of metal such as steel and in order to avoid inducing strains in the hot glass of the cathode ray tubes to be contacted, it is provided with a heater as pointed out. The heater maintains the vacuum chuck contactor i9 at the temperature of the tubes to be picked up. Gasket 25 must be. made of material havingsufiicient resilience to make a vacuum seal with the glass face plates while not marking or marring the same even at elevated temperatures. One such material which has been found satisfactory is asbestos.

The upper end of piston it extends through the reduced diameter portion l3a. of casing 53 and carries a collar 21 which is clamped thereon by set screw 28. Collar 21 limits the downward movement of piston and prevents portion 15 of the piston from leaving the large diameter portion of easing or cylinder l3. At its upper end the piston it carries the nozzle 29 which through apertures 28a effects the connection between vacuum line it and central passageway ll of piston Hi, as aforementioned.

The enlarged portion 15 of piston Hi has passageways so formed therein which communicate at one end with central passageway H and at the other end with annular space 3| formed between the upper portion it of piston Hi and the lower or large diameter portion of casing or cylinder l3.

Vacuum. chuck arm or support H is provided at its end with an annular perforated disc 32 through which the upper end i3a of cylinder 13 extends. The opening in disc 32 is sufficiently larger than portion 53a to permit the same to readily slide therethrough. As will be seen, casing or cylinder I3 is prevented from sliding through disc 32 by a counterweight linkage to be described.

As most clearly shown in Figure 2, gauge pin 33 is connected toa lever 34 which, in turn, is

14 in casing or cylinder i3 pivotally connected at 35 to upper annular disc 28. Lever 34 has connected thereto platform 36 which extends sidewards of lever 34 over upper annular disc 20. Gauge pin 33 carries at its lower end a contact tip 3i, which, as will be more fully pointed out, contacts the face plat-e of the tubes being handled and indicates the relative distance of the face plate from gasket 26. Contact pin 3'! must be of such material which even at high temperatures will withstand abrasion face plate and at the same time will in no way mark or mar the glass surface.

Flexible vacuum line 18 is connected to a solenoid operated three-way valve A" shown in Figure '7, the other side of which is connected to a vacuum pump. The three-way valve referred to comprises two space plates 83, 8d fixed to each other by straps 85, 86. The upper plate 83, as viewed in Figure '1, is provided with two openings 81, 8B communicating with ducts 8!! and it respectively. Between th plates 83, 84 is disposed a slideable valve member including dish-shaped support 9i! and valve closing member 9i seated in support 93. Valve closing member 9| has a raised portion 92 which is adapted to assume registry with opening 88 when moved to the left as viewed in Figure '7, to thereby close communication between ducts l8 and 89. Duct 89 is connected to a vacuum pump shown schematically. Therefore, the action of the valve is to open and close communication between the vacuum pump and the duct 8 to thereby selectively actuate the vacuum chuck Hi shown in Figure 2. For moving the valve membe s 98, iii to the right and left (Fig. 7) a push-pull solenoid having portion 33 for pulling and portion 92 for pushing is provided. The piston 94 of the solenoid is connected to the slide support 30. The valve referred to is suitably actuated as follows: As most clearly shown in Figures 1, 2, and 12, there are two micro-switches 38 and 3t mounted on vacuum chuck ann or support H which are each connected between a source of electrical current (not shown) and each of the solenoid portions referred to which operate the three-way valve described. In the embodiment being described, switch 38 operates solenoid portion 93 which breaks the vacuum while switch 33 is connected to solenoid portion 92 which operates the threeway valve to turn on the vacuum or connect vacuum line it to the vacuum pump. Switch levers 48 and il each extend respectively over switches 38 and 39. Lever it is pivotally connected to post- 52 while lever ll is similarly con nected to post 53. Levers All and ll each extend through a guide Mi, 4-5 and carry rollers 46, i? respectively which overhang collar 2?. Roller ill connected to lever M is positioned just above collar 27 while roller 5-6, for reasons which will be more fully discussed, is located somewhat more distant from collar 2'1. Thus, when the vacuum chuck contacts the face plate of a tube, piston l4 slides in casing i3 and carries collar 2'1 with it. This initial movement of collar 2? pivots lever M and 'actuates switch 39. As will be seen, further movement of piston it brings collar 21 in contact with roller 46 and, in turn, pivots lever 43 to actuate switch 38.

As was pointed out, vacuum chuck arm or support H is pivotally mounted on shaft 12. Arm H adjacent shaft I2 is provided with a springloaded detent 48 which slides on locator plate 49 and seats. in recesses therein which serve to steady arm H. Main control lever 56 is pivotally connected to. arm. or support H at 51. Spring 52 is connected at one end to arm II and at the with ducts 96, 91 or partly closes both of these other end to lever 50 and serves to bias main openings. It will be noted that an air thrust control lever 59 so that its right hand end (Figure on piston I will cause the cylinder I 03 to move 2) or the end adjacent vacuum chuck I0 is redownwardly, as viewed in Figure 9, against the siliently biased downward. Main control lever 5 tension of spring I 04. The tension of spring-I06 59 carries at its downwardly biased end a contact is so chosen that when air nozzle 51, is closed by pin 53 which at all times rests on platform 36 flag 55, the cylinder I03 isurged upwardly to close under the action of spring 52. duct 97 and to open duct 96., When nozzle 51, is

At the opposite or upwardly biased end, main half open, the cylinder I93 will assume the posicontrol lever 59 has connected thereto an arcuate 10 tion shown in Figure 9 and will leave both ducts jet control flag 55. As most clearly shown in the force of air flow through duct '6I will cause Figures 2 and 8 flag 55 has a notch 55a formed the cylinder I63 to move fully downwardly to therein and pivots with vacuum chuck arm I I. close du 93 a to-op d t Flag 55 is so mounted as to extend between air T e n r ni in lu ing nozzles 56, 57 and supply nozzle 56 and air receiving nozzle 51. The valve D is so adjusted therefore that when air jet two nozzles are spaced approximately onecontrol flag 55 extends half way down between quarter of an inch apart and are each provided the nozzles or masks one-half of the air supply with orifices in the formof elongated slots 58, 59 and receiving orifices, shaft I2 and arm II rerespectively which extend vertically. I have main vertically stationary. When the orifices found that elongated slots eliminate hunting r jets artificially v d haft I2 and arm I! which would otherwise be present with the usual travel upward at ma imum speed. When the reround form of orifice jets. Both slots are of v s orific is ompletely opened to the supply an inch long and slot '58 in air supply nozzle 56 orifice, Shaft I 2 and arm; II move downward at is approximately .015 inch wide while slot 59 in m um peed.

air receiving nozzle 51 is narrower and only ap- To facilitate the upward. movement of shaft proximately .010 inch wide. I have found that 52, a n rweight I05 shown in Figure 12 may as the air stream, which is under considerable be employed having w ieh greater. than the pressure, leaves air supply nozzle 5-6, it undergoes Weight O Shaft 12 d h a y Supported considerable turbulence at the edges or fringe thereon, for & D DQ 0 b d bed.

thereof. Thus, by decreasing the size of the slot Means rotating csh t I2 is Sh wn in in the receiving nozzle and making it somewhat Figures 10 Thisv m ns i c ud s a collar not used and only the non-turbulent center of the but fixed against tation thereon, Arm 4 cs exair stream is used Air Supply nozzle 55 is Com tends from collar I06 and islinked to piston shaft mated by conduit to a Source f air under I99 of a solenoid III). The solenoid referred to pressure through Valve Shown schematically is fixed to a structural element of the framework valve D shown in Figures 9 and 12 which in turn, the Shaft l 2 to rotate through a predetermined controls the movement of a pistonIZa (Fig. 5) am for transporting the t b 64 n an arcuate in hydraulic cylinder 10; the shaft I2 being di- 45 Path, as required during p a n of the apparare tly connected to the piston Such an arrange tus with which the mechanism of the invention ment 1S commonly known as an coupled ls associated Switch III is of a type Wnlch is system except as modified in accordance with the an ,upward movement of the shaft Thus,

hydraulic regulator control unit and rotary movement referred to and the succeeding is manufactured by the ASkam-a Regulator downward movement of shaft I2, and is stopped pany' only when theshaft is raised after the last-men- Referring to the valve D shown in Figure 9 in q downward moyement during which a tube more detail, it includes a housing 95 through 1 dellvered to lfecelv-ing swam When ener" which ducts 96, and 6' =98 extend. As indi gization of solenoid I I 6 stops by the last-named cated above, duct BI is connected to air receiving ppwa'rd movement Dime shaft. the shaft nozzle 51 Duct 98 is connected to a Suitable is rotated by the tension of spr ng I I2 so that it supply of air under pressure. Ducts 91, 96 are assunlges its mmal angular pqsltloni connected to the upper and lower portions re- In Flgums 6 and 12 there is Shown apparatus we in registry with duct 6 I and adapted to a portion of which is schematically indicated.

ceive air fed to this duct by nozzle 57. A piston cylinder H39 in response to air pressure tran'smitted by duct 6!. A shaft I92 connects the 1s m 1; piston referred to to a cylinder I93 so that this with the chuck centered over cylinder moves with piston WI. The cylinder of cart 63. As the cart arrives in position below I93 is so disposed in cylinder 99 so that it closes shaft I2 and chuck arm II, tube 64 actu ates a one of the openings in l V N 7 l n s? cq ln i n 75, P o wi h. 6 h ci t m. ens. t r.

through which conduit 60 Since there is no tube connected to the vacuum chuck contact 31, lever 34, platform 35 and contact pin 53 are in their lowermost position while air jet control flag 55 is in its raised position. As a result shait I2 and vacuum chuck arm H travel downwardly. When contact tip 31 comes in contact with the face plate 66 of a tube, lever 34 is pivoted and raises platform Platform as being in contact with contact pin 53 raises the same together with the end of main control lever 56. The opposite end of main control lever 59 together with jet control flag travel downward slowing down and finally stopping the downward travel of the arm H. While lever 3c is being pivoted gasket 26 comes in contact with face plate 66. The apparatus is so adjusted that before the downward travel of vacuum chuck it is completely arrested the vacuum chuck contactor l9 and piston M are moved somewhat upward with respect to casing or cylinder l3. Collar 2'? also moves upwardly with piston 14 and in so doing moves roller 41 upward pivoting lever ii to actuate micro-switch 35. Micro-switch 39 actuates solenoid portion 92 which, in turn, shifts the three-way valve A to open vacuum line Hi to the vacuum pump. This creates a vacuum in central passageway l1 and the space formed between lower disc 2i, gasket 25 and face plate 65. A vacuum is also created in annular space 3| which exerts an upward pull on the enlarged portion iii of piston M. This causes an initial upward movement of piston l4 and tube 54 which removes all of the vertical free play in the mounting of tube 5 1 in cart 63. As indicated in Figures 5 and 12, tube 64 has a metal exhaust tubulation i! which rigidly interconnects tube 64 and a vacuum pump (not shown) on cart 63. The upward pull exerted on portion [5 of piston Hi is transmitted to exhaust tubulation H which, after elimination of the vertical free play, prevents upward movement of tube 64 with the result that the exhaust tubulation is under tension. Now the pinch off mechanism indicated generally at :2 is actuated and severs exhaust tubulation H tubing off and effecting a seal as shown and described in Patent No. 2, 97,597, Garner et al. Pinch ofi mechanism I2 is in the form of a heavy pincher having opposed movable jaws which come together when the mechanism is actuated. The movable jaws exert suflicient force upon the metal exhaust tubulation to cause plastic flow or cold extrusion of the metal therebetween. As a result it is desirable that the exhaust tubulation be under tension at the time the pinch on is efiected in order to take up elongation in the tubing which takes place during the Also the vacuum in annular space 3! prevents the pinched off tubing from coming together after the pinch on is effected and thereby damaging the seal.

The pinch off mechanism by a suitable arrangement (not shown) automatically moves into operposition when a cart 63 arrives in the position shown in Figure 5. The initial upward move. ment of tube as as piston M is drawn upward a short distance in casing 13 is utilized to actuate micro-switch 55a shown in Figure 12 which, in turn, actuates the pinch-off mechanism.

the pinch off is effected, piston I4 is drawn further up into casing or cylinder l3. Platform 3% being connected to vacuum chuck contactor l9 and piston M also moves upwardly against contact pin 53 and further pivots main control lever 50. As main control lever 50 is furvalve A (Figure 12) is connected.

ther pivoted, jet control flag 55 travels further downward between the air supply nozzle 56 and air receiving nozzle 51 until the air receiving nozzle is completely masked from the air supply nozzle. At this time, shaft $2 with arm or support member H thereon travels upwardly at maximum speed and comes to rest automatically under the action of the hydraulic piston and cylinder 19 in its upward position. The vacuum chuck arm i l is then rotated as shown in Figure 11 until it comes to rest in the position shown in Figure 6 by some suitable means such as is shown in Figures 10 and 11, or by a pneumatic cylinder, the movement of which is initiated by switch H! which is tripped by shaft l2 when the arm completes its upward travel. When the arm rotates, air jet control flag 55 is also rotated and the notched portion 55a thereof comes between nozzles 55 and 5! thereby uncovering the air receiving nozzle 5?. Arm H then travels downwardly and the tube is seated in a carrier 61 as shown in Figure 5. When the tube comes to rest in the carrier, casing or cylinder I3 is driven upwards with respect to plate 32. This causes main control lever 50 to pivot and the jet control flag is brought downward until it covers half of air receiving nozzle 51. This stops the downward travel vacuum chuck arm and shaft l2. At the same time collar 2'1 is carried upward against roller 46 and causes lever 40 to pivot thereby actuating micro-switch 38. As was pointed out, micro-switch 38 is connected to solenoid portion Q3 which actuates the valve in the vacuum line to break the vacuum. Tube 64 has thus been deposited in the carrier. Micro-switch 38 is also connected to valve A so as to shut off the air supply to the air conduit 59 and air supply nozzle 56. ms, shaft i2 and arm H are raised to the topmost position by counterweight I65 and the arm is rotated back toward the starting position by the tension of spring H2 (Figure 11).

As pointed out hereinabove, creation of vacuum in annular space 3! exerts an upward pull on piston i4 and serves to tension exhaust tubulation ii of tube M. counterweight 13 together with the linkage indicated generally at 14 provides an extremely convenient way of controlling the amount of tension exerted on the exhaust tubulation. Lever 15 serves to support counterweight !3; the latter being slideably mounted thereon and secured in any desired position by means of a set screw not shown. Links It, '11 are pivotally connected together at 78 while link '56 is pivotally connected to lever 15 at 19. As most clearly shown in Figure 3, lever "i5 has connected to it two links l6 which, in turn, are connected to two links 1?. Links H are rigidly interconnected around the uppermost portion of easing or cylinder l3 below collar 21. Rigidly connected to links T5 are a pair of links 80. Links 80 are pivotally connected to links M which are, in turn, pivotally connected to lever i 5. As shown the linkage transmits the thrust of counterweight E3 to the upper end of piston 14. The arrangement is such that the thrust is transmitted along the axis of piston Hi and in a vertical direction, thus eliminating any possibility of the piston binding in casing or cylinder 43. By shifting counterweight 13 from left to right on lever 15, the force transm'tted by the linkage to piston M is varied. Since this force is in the direction opposite to the force developed by the vacuum in annular space 3i, the total upward force on piston It may thereby be regulated or adjusted.

It is apparent from the foregoing that I have passageway below that of the atmosphere, means on said arm responsive to the position of said on said arm actuated by said. ling said second mentioned means.

3. An automatic mechanism for transferring one end of said passageway, said vacuum chuck further being adapted to connect the other end piston and movable biasing said control movable into and jets.

open ended casing having an enlarged portion and supported by said arm, a piston through said casing and movable therein, said piston having an enlarged portion movable in th enlarged portion of said casing, the enlarged portions of said casing and piston annular space about said piston, said supply jet and being adapted a movably mounted shaft, means for moving said shaft, an arm supported piston being adapted to be connected to means for reducing the pressure in said passageway below that of the atmosphere, a control lever pivotally mounted on said arm and having one end adjacent said contactor,

contactor, resilient i leans biasing said control lever and urging said one end thereof against said last mentioned means, an air supply jet having a supply orifice formed therein and mounted on said shaft, an air receiving jet mounted on said shaft and having a receiving orifice formed therein, said receiving orifice being opposed to and spaced from said supply orifice, a control flag supported from the other passageway, and means on said arm responsive to movement of said piston for actuating said switch means.

6. An automatic mechanism for transferring objects according to claim and wherein said air supply jet and said air receiving jet each have an elongated orifice, the orifice of said air supply jet being larger than the orifice in said air receiv ing jet;

'7. An automatic mechanism for transferring objects according to claim 5 and wherein each of said air supply jet and said air receiving jet have an elongated orifice formed therein, the orifice in said air supply jet being wider than the orifice in said air receiving jet.

8. A vacuum chuck, comprising a cylindrical casing having an enlarged portion, a piston movable in said casing and extending therethrough, said piston having an enlarged portion movable in the enlarged portion of said casing and forming therewith an enclosed annular space, a passageway formed in sad piston and communicating with the atmosphere through one end of said piston, said passageway communicating with said annular space, said piston being adapted to connect said passageway and annular space to means for reducing the pressure therein below that of the atmosphere, a contactor connected to said piston and having a recess in one surface thereof forming an extension of said passageway and adapted to be closed by one of said objects, a lever pivotally connected to said contactor, and a contact pin connected to said lever and normally extending beyond said one surface of said contactor.

9. A vacuum chuck, comprising a cylindrical casing having an enlarged diameter portion, a piston movable in said casing and extending therethrough, a collar connected to said piston on one side of said casing for limiting the movement of said piston through said casing, said piston having an enlarged diameter portion movable in and closing the enlarged diameter portion of said casing, said enlarged portions forming an enclosed annular space, said piston having a passageway formed therein communicating with said annular space and with the atmosphere at one end of said piston, said piston being adapted adjacent its other end to connect said passageway to means for reducing the pressure in said passageway and annular space below that of the atmosphere, a contactor connected to said one end of said piston and having a recess formed in one surface thereof forming an extension of said passageway and adapted to be closed by one of said objects, said contactor having an annular chamber formed therein, and means in said chamber for heating the same.

10. A vacuum chuck, comprising a cylindrical casing having an enlarged portion, a piston vertically movable in said casing and extending therethrough, said piston having an enlarged portion movable in the enlarged portion of said casing and forming therewith an enclosed annular space, a passageway formed in said piston and communicating with the atmosphere through one end of said piston, said passageway communicating with said annular space, said piston being adapted to connect said passageway and annular space to means for reducing the pressure therein below that of the atmosphere, a contactor connected to said piston and having a recess in one surface thereof forming an extension of said pacsageway and adapted to be closed by one of said objects, a lever pivotally connected to said contactor, a contact pin connected to said lever and normally extending beyond said one surface of said contactor, a counterweight lever connected to the upper end of said casing and having a bearing surface engaging the upper end of said piston, and a counterweight movably mounted on said lever.

References Cited in the file of this patent UNITED STATES PATENTS 

